Localization and Mapping Algorithm for the Indoor Mobile Robot Based on LIDAR

摘要

In order to realize the autonomous Localization and navigation of indoor robots, this paper designs an indoor mobile robot positioning and mapping system based on LIDAR, and proposes a kind of localization and mapping task based on the improved RBPF-SLAM algorithm. This method mainly solves the deficiency in the original RBPF-SLAM algorithm from the aspect of improving the proposed distribution and limiting the number of resampling, making it more suitable for indoor mobile robot localization and mapping. Finally, the accuracy and rationality of the robot localization and mapping based on the RBPFSLAM algorithm based on LIDAR are verified by experiments.